CN109754874B - Anti-misoperation shutdown switch control device and method for robot-assisted surgical equipment - Google Patents
Anti-misoperation shutdown switch control device and method for robot-assisted surgical equipment Download PDFInfo
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- CN109754874B CN109754874B CN201811610870.5A CN201811610870A CN109754874B CN 109754874 B CN109754874 B CN 109754874B CN 201811610870 A CN201811610870 A CN 201811610870A CN 109754874 B CN109754874 B CN 109754874B
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- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/44—Arrangements for executing specific programs
- G06F9/4401—Bootstrapping
- G06F9/442—Shutdown
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- G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
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- G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
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- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
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- H03K17/00—Electronic switching or gating, i.e. not by contact-making and –breaking
- H03K17/94—Electronic switching or gating, i.e. not by contact-making and –breaking characterised by the way in which the control signals are generated
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- H—ELECTRICITY
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- H03K2217/00—Indexing scheme related to electronic switching or gating, i.e. not by contact-making or -breaking covered by H03K17/00
- H03K2217/94—Indexing scheme related to electronic switching or gating, i.e. not by contact-making or -breaking covered by H03K17/00 characterised by the way in which the control signal is generated
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Abstract
The invention relates to a device and a method for controlling an anti-misoperation shutdown switch of robot-assisted surgical equipment, wherein the control device comprises: the power-on and power-off button is used for triggering power-on and power-off actions; the system power supply module is used for connecting a power supply to supply power to all power utilization modules of the robot-assisted surgery equipment; the power-on and power-off control module is used for detecting the power-off action of the power-on and power-off key and acquiring the power-off intention through manual interaction; and the power supply module of the control system is powered off when the power supply module of the control system detects the shutdown action and two paths of signals of the shutdown control signal sent by the power supply module of the switch. On the premise of hardly increasing the cost, the invention can reduce the probability of unexpected shutdown caused by system software and hardware faults or manual misoperation, and further improve the reliability of equipment operation.
Description
Technical Field
The invention relates to a device and a method for controlling an anti-misoperation shutdown switch of robot-assisted surgical equipment, and relates to the technical field of medical instruments.
Background
Robot-assisted surgery is a hot direction emerging from the current surgical field. The surgical equipment integrated with the advanced robot technology can greatly improve the surgical operation capability and the surgical efficiency of doctors and reduce the working intensity and the pressure of the doctors, thereby being popular. However, the robot-assisted surgical equipment is still an electrical equipment at the bottom, and there is a failure risk (the detection requirement for single failure in the medical instrument industry standard must be met, that is, when a certain component in the equipment fails, the failure can be detected, and the failure cannot cause a risk of harm to the user or the patient). If the shutdown button is accidentally touched or an error shutdown signal is generated due to other factors in the process of the robot-assisted surgery, the robot-assisted surgery equipment in work is directly shut down, the surgery has to be interrupted, the treatment is delayed, and the life risk of a patient can be caused in serious cases.
As shown in fig. 1, many conventional medical devices implement a shutdown function by using a pure hardware shutdown circuit, that is, once a shutdown button is pressed, a relay in the corresponding shutdown circuit is immediately started to operate, so as to start an irreversible shutdown process. This approach is clearly not suitable for robotically assisted surgical devices, particularly devices that perform critical surgical operations.
As shown in fig. 2, the da vinci surgical robot (intuitive surgical company) which is most widely used in the world currently adopts a pure software control mode to implement shutdown, i.e. the shutdown button does not directly control the hardware shutdown circuit, but is connected to a corresponding control chip. The chip collects the state of the button, and when the shutdown button is pressed, the software starts a shutdown process and displays shutdown information on the human-computer interface. If the shutdown button does not act within 10s, the control module informs other function modules of the system to start shutdown, and after the corresponding shutdown task is completed, the control module finally outputs a signal to control a hardware shutdown circuit to act, cuts off the power supply of the system and completes shutdown. And if the control chip detects that the shutdown button is released and pressed again within 10s, the shutdown process is forcibly interrupted. The method can prevent the system from being shut down by mistake due to the fact that the shutdown button is touched by mistake or the button fails accidentally, but the method cannot prevent the system from being shut down by mistake due to the fact that corresponding software fails (extra redundant hardware is needed to be added to achieve error correction).
In summary, in order to prevent the erroneous shutdown action possibly generated in the pure hardware control shutdown method, the robot-assisted surgical device generally adopts the pure software control method to achieve shutdown. This method can prevent unexpected error shutdown operation, but cannot prevent error shutdown caused by failure of software part for controlling shutdown process. If the error shutdown signal caused by the failure of the software part needs to be prevented, an additional chip needs to be added to realize redundancy control, so that the research and development cost and the material cost are greatly increased.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide an apparatus and a method for controlling an anti-misoperation shutdown switch of a robot-assisted surgical device, which can prevent an accidental shutdown caused by a shutdown button being touched by mistake or a button failing, and can also prevent an accidental shutdown caused by a software failure.
In order to achieve the purpose, the invention adopts the following technical scheme:
in a first aspect, the present invention provides a false shutdown prevention switch control apparatus for a robotic-assisted surgical device, the control apparatus comprising:
the power-on and power-off button is used for triggering power-on and power-off actions;
the power-on and power-off control module is used for detecting the power-off action of the power-on and power-off button and acquiring the power-off intention through manual interaction;
the power supply system comprises a power on/off hardware circuit, a power on/off control module and a power supply starting module, wherein the power on/off hardware circuit is used for detecting power on actions and sending signals to start power supply, and simultaneously detects the power off actions of a power on/off button and power off control signals sent by the power on/off control module and sends signals to cut off the power supply.
Preferably, the control device further comprises a system power supply module, the system power supply module is used for connecting a power supply to supply power to each power utilization module of the robot-assisted surgical equipment, and the system power supply module comprises a power supply switch control circuit.
In the above device, preferably, the power-on/off button is a switch button which is responsible for triggering the power-on/off function; or the power on/off button comprises two power on/off buttons which are respectively used for power on and power off.
In the above device, preferably, the power-on and power-off hardware circuit includes a power-on and power-off button detection circuit, a power-on action circuit and a power-off action circuit; the input end of the power on/off button detection circuit is connected with the power on/off button and is used for detecting the state of the power on/off button and outputting a corresponding control signal, the action of the power on button can trigger the power on/off button detection circuit to output a power on control signal and output the power on control signal to the power on action circuit, and the action of the power off button can trigger the power on/off button detection circuit to output a hardware power off signal and output the hardware power off signal to the power off action circuit; the starting-up action circuit receives the starting-up control signal and then controls a power supply switch control circuit in the system power module to be conducted to start power supply so as to realize starting-up; and the shutdown action circuit controls the power supply switch control circuit to cut off power supply to realize shutdown when receiving the hardware shutdown signal and simultaneously receiving the software shutdown signal sent by the switch machine control module.
In the above device for controlling the switch to prevent the power-off by mistake, preferably, the switch control module includes a controller, an input circuit and an output circuit; the input circuit receives a power-off button signal from the power-on and power-off button detection circuit; when the controller learns that the operator has the shutdown intention through manual interaction, the controller outputs the software shutdown signal to the shutdown action circuit through the output circuit.
Preferably, the system power supply module further includes an AC/DC voltage conversion module, the AC/DC voltage conversion module is configured to convert an external AC network voltage into a DC voltage required by each module of the system, an output end of the AC/DC voltage conversion module is configured to provide a voltage required by operation for the switching hardware circuit, and an output end of the AC/DC voltage conversion module is connected to the power supply switch control circuit.
Preferably, the output of the AC/DC conversion module is respectively connected in series with one end of a normally open contact of a relay or a normally open contact of a time-delay relay, and the other end of the AC/DC conversion module is connected to each system function module.
In the above device, preferably, the hardware circuit for switching on and off includes at least first to fifth relays, a delay relay, a bleeder diode and a current limiting resistor; after a control coil of the first relay is connected with a first bleeder diode in parallel, one end of the control coil is connected to working voltage, and the other end of the control coil is connected to one end of a normally closed contact of the second relay; the other end of the normally closed contact of the second relay is connected with the normally open contact of the first relay and one end of the normally closed contact of the third relay in parallel, the normally open contact of the first relay and the other end of the normally closed contact of the third relay are connected with one end of the on-off button after being connected in parallel, and the other end of the on-off button is connected to a reference ground; after a control coil of the third relay, a second leakage diode, a control coil of the time delay relay and the third leakage diode are connected in parallel, one end of the control coil is connected to working voltage, the other end of the control coil is connected to one end of a normally closed contact of the second relay, the other end of the normally closed contact of the second relay is connected in parallel with one end of a normally open contact of the first relay and one end of a normally open contact of the third relay, and the other end of the normally closed contact of the second relay is connected to a reference ground; after a control coil of the second relay is connected with a fourth bleeder diode in parallel, one end of the control coil is connected to a working voltage, the other end of the control coil is connected with one end of a normally open contact of the fourth relay, the other end of the normally open contact of the fourth relay is connected with a normally closed contact connected with the first relay, the other end of the normally closed contact of the first relay is connected with one ends of the normally open contact of the second relay and the normally open contact of the third relay in parallel, the other end of the normally closed contact of the first relay is connected with one end of the on-off button in parallel, and the other end of the on-off button is connected to a reference ground; after a control coil of the fifth relay is connected with the fifth bleeder diode in parallel, one end of the control coil is connected to working voltage, the other end of the control coil is connected to one end of the on-off button, and the other end of the on-off button is connected to reference ground; one end of the current-limiting resistor is connected to working voltage, the other end of the current-limiting resistor is connected with a normally open contact of the third relay, the other end of the normally open contact is connected to the anode of an indicator lamp in the startup and shutdown key, and the cathode of the indicator lamp is connected to reference ground.
The above-mentioned prevent mistake shutdown switch control device, preferably, switch machine control module includes control chip, the control coil of fourth relay with one bleeder diode parallel connection back one end with the control chip output is connected, and the other end is connected to the reference ground, the normally open contact one end of fourth relay is connected to operating voltage, the normally open contact other end of fourth relay is connected the control chip input, the one end of a normally open contact of fifth relay is connected to operating voltage, and the other end is connected the control chip input, control chip still realizes communication through communication interface connection human-computer interaction module.
In a second aspect, the present invention further provides a control method for an anti-error-shutdown switch control apparatus of a robot-assisted surgical device, including:
step S1, start preparation:
before the robot-assisted surgical equipment is started, a system power supply module is connected with external network voltage and starts to supply power to a startup and shutdown hardware circuit;
step S2, start:
the startup and shutdown key is used for triggering startup action, each module of the system obtains corresponding working voltage, and the system finishes startup action;
step S3, shutdown and error shutdown prevention:
after the startup action is finished, the system enters a power-on state, each module is powered on to start working, at the moment, if the startup and shutdown button is pressed down again, the startup and shutdown control module detects the shutdown action of the startup and shutdown button and obtains the shutdown intention through manual interaction, and if the startup and shutdown hardware circuit detects the shutdown action of the startup and shutdown button and a shutdown control signal sent by the startup and shutdown control module at the same time, the power supply module of the system is controlled to be powered off, and the system enters the shutdown state; and if the on-off hardware circuit does not detect the on-off action of the on-off key and the off control signal sent by the on-off control module at the same time, the operation is regarded as the error off operation.
Due to the adoption of the technical scheme, the invention has the following advantages: compared with other robot-assisted surgery systems adopting software shutdown modes, the robot-assisted surgery control system of the switch control device provided by the invention is provided with the power on/off hardware circuit, the power on/off hardware circuit is used for detecting the power on action to control the system power supply module to start power supply, and the power on/off hardware circuit controls the system power supply module to cut off the power supply when detecting two signals of the power off action and the shutdown control signal sent by the power on/off control module, so that the probability of accidental shutdown caused by system software and hardware faults or manual misoperation can be reduced under the condition of hardly increasing the cost, and the running reliability of equipment is further improved.
Drawings
FIG. 1 is a diagram illustrating a conventional medical device powered on/off by a pure hardware power on/off circuit control system;
FIG. 2 is a diagram illustrating the manner in which the da vinci surgical robot system controls the system to power on/off by using software to control the on/off circuit;
FIG. 3 is a logic diagram of the power on/off control of the robotic-assisted surgical device employing the switch control apparatus of the present invention;
FIG. 4 is a schematic diagram of the on/off principle of the robotic-assisted surgical device of the switch control apparatus of the present invention;
FIG. 5 is a diagram illustrating an implementation of the apparatus for controlling the switch to prevent the power-off operation according to the present invention;
FIG. 6 is a control flow of the power-on control of the device for controlling the anti-misoperation switch;
fig. 7 is a shutdown control flow of the anti-error shutdown switch control device according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
As shown in fig. 3, the anti-error-shutdown switch control device for robot-assisted surgical equipment provided by the invention comprises a switch button, a switch hardware circuit, a system power module, a switch control module and a human-computer interaction module.
The on-off button is used for controlling the on-off action of the on-off hardware circuit, and it needs to be explained that the on-off button can directly trigger the on-off action of the on-off circuit, but cannot directly trigger the off action of the on-off hardware circuit;
the system power supply module is used for connecting an external power supply to provide required working voltage for each power utilization module of the robot-assisted surgical equipment;
the startup and shutdown hardware circuit is used for controlling the system power supply module to start power supply or disconnect power supply;
the on-off control module is used for detecting the on-off key state, outputting an off control signal and carrying out information prompt on an operator through the man-machine interaction module. When the on-off key is pressed down, the on-off control module can detect a corresponding key signal and prompt a user for corresponding information at the man-machine interaction module. And the shutdown control signal of the on-off control module is output to the on-off hardware circuit. When the power-off control signal and the power-on and power-off key hardware signal exist at the same time, the power-off action of the power-on and power-off hardware circuit can be triggered.
In a preferred embodiment, as shown in fig. 4, the power on/off button may be a switch button, which is responsible for triggering the power on/off function; or, the power on/off case may also adopt two switch buttons, one of which is responsible for triggering the power on action and the other of which is responsible for the power off action, and the two switch buttons are not limited herein and can be set according to actual needs.
In a preferred embodiment, the power on/off hardware circuitry includes power on/off button detection circuitry, power on action circuitry, and power off action circuitry. The input end of the startup and shutdown button detection loop is connected to the startup and shutdown key and used for detecting the state of the startup and shutdown key and outputting a corresponding control signal. The startup key action triggers the startup button detection circuit to output a startup control signal, and the startup control signal is output to the startup action circuit. And the starting action circuit controls the conduction of a power supply switch control circuit in the system power supply module after receiving the starting control signal, and starts to supply power to each functional module of the system, thereby realizing starting. The shutdown key action can trigger a corresponding hardware shutdown signal, the hardware shutdown signal is transmitted to the shutdown action circuit, the signal cannot immediately trigger a power supply switch control circuit in a power supply module of the shutdown action circuit control system to cut off power supply, and when the shutdown action circuit simultaneously receives the shutdown control signal sent by the power supply switch control module, the power supply switch control circuit in the power supply module of the control system is triggered to cut off power supply, so that shutdown is realized. In addition, when the shutdown key is pressed down, the startup and shutdown button detection circuit is triggered to send a corresponding level signal to the startup and shutdown control module, so that the startup and shutdown control module can judge the shutdown intention of the user through the manual interaction module.
In a preferred embodiment, the on-off control module includes a controller, an input circuit, and an output circuit. The input circuit receives a shutdown button signal from the startup and shutdown button detection circuit and inputs the shutdown button signal into the controller, the controller outputs a shutdown control signal to the shutdown action circuit through the output circuit, and shutdown is realized by matching with a hardware shutdown control signal.
In a preferred embodiment, the system power supply module includes an AC/DC voltage conversion module and a power supply switch control circuit, the AC/DC voltage conversion module is configured to convert an external AC network voltage into a DC voltage required by each module of the system, and the AC/DC voltage conversion module directly provides a voltage required for operation for the switching hardware circuit on the one hand, and outputs the voltage to the power supply switch control circuit on the other hand, and is controlled by the switching hardware circuit to supply power to functions of each other module of the system.
The following describes in detail a specific implementation process of the anti-misoperation shutdown switch control device for the robot-assisted surgical equipment according to the present invention by using specific embodiments:
as shown in fig. 5 to 7, the power on/off button of the present embodiment employs a power on/off button S1 and a signal indicator LED 1;
the switching hardware circuit of the embodiment comprises four ordinary relays K1, K2, K3 and K4, a time delay relay KT, a leakage diode connected with each relay in parallel and a current-limiting resistor R1. Wherein, the control coil of the relay K1 is connected in parallel with a bleeder diode, then one end is connected to the operating voltage VCC1, the other end is connected to a normally closed contact of K2, the other end of the normally closed contact of K2 is connected with a normally open contact of K1 and a normally closed contact of K3, the normally open contact of K1 is connected in parallel with the normally closed contact of K3, the other end is connected to one end of the on-off button S1, and the other end of the on-off button S1 is connected to the ground reference. Through the circuit loop, a starting signal can be detected (S1 is pressed down in a power-off state), and starting action is realized (the relay K1 attracts, so that K3 and KT attract to realize starting power supply).
The control coil of relay K3, the control coil of relay KT and corresponding bleeder diode are parallelly connected, then its one end is connected to operating voltage VCC1, and the other end is connected to a normally closed contact of relay K2, and the other end of this normally closed contact of relay K2 is connected with a normally open contact of relay K1 and a normally open contact of relay K3, and this normally open contact of relay K1 is parallelly connected with this normally open contact of relay K3, and its other end is connected to ground reference.
The control coil of the relay K2 is connected in parallel with a bleeder diode, then one end of the control coil is connected to the working voltage VCC1, the other end of the control coil is connected to a normally open contact of the relay K4, the other end of the normally open contact of the relay K4 is connected with a normally closed contact of the relay K1, the other end of the normally closed contact of the relay K1 is connected with normally open contacts of the relay K2 and the relay K3, the normally open contacts of the relay K2 and the relay K3 are connected in parallel, the other end of the control coil is connected to one end of the on-off button S1, and the other end of the on-off button S1 is connected to the reference ground. Through this circuit return circuit, can realize the action of shutting down (relay K2 actuation to can let relay K3 and time delay relay KT break, realize the shutdown outage, and can see that it is unable direct shutdown to press only S1).
The control coil of the relay K5 is connected in parallel with a bleeder diode, and then has one end connected to the operating voltage VCC1, the other end connected to one end of the on/off button S1, and the other end of the on/off button S1 connected to ground reference. Through the circuit loop, whether the on-off button S1 is pressed or not can be detected (if the S1 is pressed, the relay K5 is attracted), so that the power can be fed back to a control chip in the on-off control module, and the user' S intention of turning off the power can be judged.
The resistor R1 has one end connected to the operating voltage VCC1 and the other end connected to a normally open contact of the relay K3, the other end of the normally open contact is connected to the anode of the indicator LED1 in the on-off button, and the cathode of the LED1 is connected to the reference ground. When the relay K3 is closed, the normally open contact of the relay K3 is closed, so that the indicator light LED1 emits light to indicate the power-on state.
The system power supply module of this embodiment contains one or several AC/DC conversion modules, and its output VCC1 will directly provide operating voltage for switching on and shutting down hardware circuit, and other voltage output will establish ties the normally open contact of relay K3 or the normally open contact of time delay relay KT earlier, then connect to each system function module again, for its power supply.
The on-off control module of the embodiment comprises a control chip. The control coil of relay K4 is connected in parallel with the bleeder diode and then connected at one end to the control chip output and at the other end to ground. The relay K4 is driven by the control chip and outputs a software shutdown signal. One end of a normally open contact of the relay K4 is connected to the working voltage VCC2, and the other end of the normally open contact is connected to the input of the driving chip, so that the driving chip can detect whether the relay K4 has a sticking fault or not. One end of a normally open contact of the relay K5 is connected to the working voltage VCC2, and the other end is connected to the input of the driving chip, so that the driving chip can detect whether the on-off button S1 is pressed down. In addition, the control chip is communicated with the man-machine interaction module and other functional modules of the system through the communication interface.
Based on the above embodiment, the use process of the anti-misoperation shutdown switch control device for the robot-assisted surgery equipment comprises the following steps:
1. a starting preparation process:
the power on and off are triggered by the same button S1, before the robot-assisted surgical equipment is powered on, the system power module is connected with the external network voltage to supply VCC1 power for the power on and off hardware circuit, and the power supply (VCC2, VCC3 and the like) for other modules of the system is disconnected because the relay K3 of the system power module is not attracted.
2. The starting process comprises the following steps:
when the on-off button S1 is pressed, the relay K1 is attracted, all contacts of the relay K1 act, and then the relay K3 is electrified and attracted. And each normally open contact of the relay K3 is closed, so that each module of the system obtains corresponding working voltage, and the system finishes the action of starting. An indicator light LED1 embedded in the power-on and power-off button closes the normally open contact of the relay K3 and lights. The relay K2 will not pull in due to the open of the normally open contact of the relay K4 and the normally closed contact of the relay K1. Relay K5 will be energized and pull so that its contact can be pressed back to switch S1. Releasing the button S1, the relay K1 coil will lose power, while the relay K3 coil will not lose power due to the opening of the normally closed contact of K1 because its normally open contact is closed. The relay K5 will also lose power because the button S1 is open, giving feedback that the button has been released.
3. Shutdown process and error shutdown prevention:
after the starting action is finished, the system enters a power-on state, and each module is powered on to start working. At this time, if the power on/off button S1 is pressed again (whether intentionally or unintentionally, or due to a hardware failure, the switch S1 is closed), only the relay K5 will be powered on, and the relay K1 will not be powered because the normally closed contact of the relay K3 is already opened. Relay K2 will continue to function normally because the normally open contact of relay K4 is not closed nor energized.
The on-off control module will detect that the off button is pressed (the normally open contact of the relay K5 is changed from open to closed, so the control chip can detect the change of the corresponding level signal). After the button is detected to be pressed, the on-off control module controls the human-computer interaction module to display shutdown prompt information through the communication interface, and prompts a user how to operate to trigger a shutdown process, for example, "the shutdown button is pressed, if the shutdown is confirmed, the button is released after 5s, and then the shutdown button is pressed again and kept pressed for more than 3 s" (the action combination for triggering the shutdown is not limited to this one, and other action combinations are all possible). The on-off control module continuously collects the state of the on-off button (by reading the state of the normally open contact of the relay K5) to judge whether the specified off trigger action is realized. If the corresponding shutdown trigger action is not realized, for example, the shutdown button is released within 5s after being pressed for the first time, or the shutdown button is not pressed again after being released, or the shutdown button is kept for less than 3s after being pressed again, the on-off control module determines that the shutdown trigger action is invalid, and continues to wait for the next shutdown trigger action. If the shutdown triggering actions are all realized, the on-off control module judges that the shutdown triggering is successful, on one hand, the on-off control module controls the human-computer interaction module to display the information of shutdown, on the other hand, the on-off control module drives the relay K4 to attract, and once the on-off button is pressed at the moment, the relay K2 is electrified to attract, so that the relay K3 is disconnected, and the power supply of the system power module to each module of the system is cut off (the power supply VCC1 of the on-off hardware circuit is not influenced, so as to ensure the power supply required by the startup actions). The power on/off button LED1 goes off and the system enters a power off state.
Further, if some important functional modules are in the system, which need time to complete some important tasks before shutdown (for example, some important data need to be stored before shutdown power down), a delay relay KT may be additionally used to control the corresponding power down, so as to ensure that there is sufficient time to complete the important tasks after shutdown. In addition, an Uninterruptible Power Supply (UPS) can be used for supplying power to the important function module, and the UPS is closed after the important function module completes the task, so that delayed power failure is realized, and the completion of the important task is ensured not to be interrupted by shutdown.
Appropriate changes and modifications to the embodiments described above will become apparent to those skilled in the art from the disclosure and teachings of the foregoing description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.
Claims (15)
1. A mis-shutdown prevention switch control device for a robotic-assisted surgical device, the control device comprising:
the power on/off button is used for triggering power on/off actions, and the power on/off actions comprise: a power-on action, a first power-off action and a second power-off action; the first power-off action is triggered by the power-off button in a power-on state of the robot-assisted surgical device and is used for triggering a power-off button signal;
the on-off control module is used for detecting a power-off button signal triggered by the first power-off action and prompting the power-off triggering action through manual interaction; the switch machine control module responds to the shutdown trigger action to be realized and outputs a software shutdown signal; the second power-off action is triggered by the power-off button under the condition that the power-off triggering action is realized, and is used for triggering a hardware power-off signal;
and the on-off hardware circuit is used for detecting the starting action and sending a signal to start power supply, and the on-off hardware circuit is also used for detecting a hardware shutdown signal triggered by the second shutdown action and the software shutdown signal, and responds to the detection of the hardware shutdown signal and the software shutdown signal, and the on-off hardware circuit sends a signal to cut off the power supply.
2. The device of claim 1, further comprising a system power module for connecting a power supply to power the power modules of the robotic-assisted surgery device, wherein the system power module comprises a power switch control circuit.
3. The device as claimed in claim 1, wherein the power-on/off button is a switch button for triggering the power-on/off function; or the power on/off button comprises two power on/off buttons which are respectively used for power on and power off.
4. The apparatus of claim 2, wherein the hardware on/off circuit comprises an on/off button detection circuit, an on/off action circuit, and an off action circuit;
the input end of the power on/off button detection circuit is connected with the power on/off button and is used for detecting the state of the power on/off button and outputting a corresponding control signal, the power on action triggers the power on/off button detection circuit to output a power on control signal and outputs the power on control signal to the power on action circuit, and the second power off action triggers the power on/off button detection circuit to output a hardware power off signal and outputs the hardware power off signal to the power off action circuit;
and the shutdown action circuit responds to the detected hardware shutdown signal and the software shutdown signal and controls the power supply switch control circuit to cut off power supply to realize shutdown.
5. The apparatus according to claim 4, wherein the power-on operation circuit receives the power-on control signal and controls the power supply switch control circuit to turn on to start power supply to achieve power on.
6. The apparatus of claim 4, wherein the on-off control module comprises a controller, an input circuit, and an output circuit;
the input circuit receives the power-off button signal; when the controller learns that the operator has the shutdown intention through manual interaction, the controller outputs the software shutdown signal to the shutdown action circuit through the output circuit.
7. The device as claimed in claim 2, wherein the system power module further comprises an AC/DC voltage conversion module, the AC/DC voltage conversion module is configured to convert an external AC network voltage into a DC voltage required by each module of the system, an output of the AC/DC voltage conversion module is configured to provide a voltage required by the operation of the switching hardware circuit, and an output of the AC/DC voltage conversion module is connected to the power supply switching control circuit.
8. The apparatus according to claim 7, wherein the output terminal of the AC/DC converter module is connected in series to one terminal of a normally open contact of a relay or a normally open contact of a delay relay, and the output terminal of the system power module is connected to other functional modules of each system.
9. The device as claimed in any one of claims 1-7, wherein the switch hardware circuit comprises: the relay comprises a first relay, a second relay, a third relay and a fourth relay;
the control coil of the first relay, the normally closed contact of the second relay and the startup and shutdown key are connected in series, and the normally open contact of the first relay is connected in parallel with the normally closed contact of the third relay and then connected in series with the normally closed contact of the second relay; the control coil of the first relay, the normally closed contact of the second relay, the normally open contact of the first relay and the startup and shutdown key are connected in series;
the control coil of the second relay, the normally closed contact of the first relay, the normally open contact of the fourth relay and the startup and shutdown key are connected in series, and the normally open contact of the second relay is connected in parallel with the normally open contact of the third relay and is connected in series with the normally closed contact of the first relay after being connected in parallel; a control coil of the second relay, a normally closed contact of the first relay, a normally open contact of the fourth relay, a normally open contact of the second relay and the startup and shutdown key are connected in series;
the control coil of the third relay and the normally closed contact of the second relay are connected in series, and the normally open contact of the first relay is connected in parallel with the normally open contact of the third relay and is connected in series with the normally closed contact of the second relay after being connected in parallel; and the control coil of the third relay, the normally closed contact of the second relay and the normally open contact of the first relay are connected in series.
10. The apparatus of claim 9, wherein the on-off hardware circuit further comprises a fifth relay;
and a control coil of the fifth relay is connected with the on-off key in series.
11. The apparatus of claim 9, wherein the power-on and power-off hardware circuit further comprises:
and the control coil of the time delay relay is connected with the control coil of the third relay in parallel.
12. The apparatus of claim 11, wherein the first relay is connected in parallel with a first drain diode, the second relay is connected in parallel with a fourth drain diode, the third relay is connected in parallel with a second drain diode, and the fourth relay is connected in parallel with a drain diode.
13. The apparatus of claim 9, wherein the power-on and power-off hardware circuit further comprises: a current limiting resistor and an indicator light;
the current limiting resistor, the indicator light, the normally open contact of the third relay and the startup and shutdown key are connected in series.
14. The device of claim 10, wherein the switch control module comprises a control chip, one end of the control coil of the fourth relay is connected to the output end of the control chip, the other end of the control coil of the fourth relay is connected to a reference ground, one end of a normally open contact of the fourth relay is connected to a working voltage, the other end of the normally open contact of the fourth relay is connected to the input end of the control chip, one end of a normally open contact of the fifth relay is connected to the working voltage, the other end of the normally open contact of the fifth relay is connected to the input end of the control chip, and the control chip is further connected to the human-computer interaction module through a communication interface to realize communication.
15. The control method of the anti-misoperation shutdown switch control device for the robot-assisted surgical equipment as claimed in any one of claims 1 to 14, characterized by comprising the following steps:
triggering a starting action by a starting button to enable each module of the system to obtain corresponding working voltage to finish the starting action, wherein before the robot-assisted surgical equipment is started, a system power supply module is connected to an external network voltage to prepare for supplying power to a starting hardware circuit;
after the startup action is finished, the system enters a power-on state and each module is in power-on work,
detecting that the power-on and power-off button is pressed again, generating a first power-off action and triggering a power-off button signal;
the power-off button signal triggered by the first power-off action is acquired by a power-on and power-off control module, and the power-off trigger action is prompted through manual interaction; the switch machine control module responds to the shutdown trigger action to be realized and outputs a software shutdown signal; the second shutdown action is triggered by the power-on/off key under the condition that the shutdown trigger action is realized, and is used for triggering a hardware shutdown signal;
sending a signal to a power supply module of a control system to cut off power supply so as to enable the system to enter a shutdown state when the hardware shutdown signal and the software shutdown signal triggered by the startup and shutdown hardware circuit in response to the second shutdown action are both detected;
and determining the error shutdown operation by the startup and shutdown hardware circuit based on the hardware shutdown signal triggered by the second shutdown action or the absence of the software shutdown signal.
Priority Applications (7)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811610870.5A CN109754874B (en) | 2018-12-27 | 2018-12-27 | Anti-misoperation shutdown switch control device and method for robot-assisted surgical equipment |
| KR1020217023734A KR102581231B1 (en) | 2018-12-27 | 2019-12-27 | Accidental shutdown prevention switch control device and method for robot-assisted surgical equipment |
| CA3118935A CA3118935A1 (en) | 2018-12-27 | 2019-12-27 | Anti-misshutdown on/off control device and an anti-misshutdown on/off control method for robotic-assisted surgical device |
| JP2021533728A JP7444887B2 (en) | 2018-12-27 | 2019-12-27 | Switch control device and its control method, and robot-assisted surgical device |
| PCT/CN2019/129036 WO2020135679A1 (en) | 2018-12-27 | 2019-12-27 | Accidental-shutdown-proof switch control apparatus and method for robot-assisted surgical device |
| EP19903448.9A EP3905524A4 (en) | 2018-12-27 | 2019-12-27 | Accidental-shutdown-proof switch control apparatus and method for robot-assisted surgical device |
| US17/418,211 US11803392B2 (en) | 2018-12-27 | 2019-12-27 | Accidental-shutdown-proof switch control apparatus and method for robot-assisted surgical device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811610870.5A CN109754874B (en) | 2018-12-27 | 2018-12-27 | Anti-misoperation shutdown switch control device and method for robot-assisted surgical equipment |
Publications (2)
| Publication Number | Publication Date |
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| CN109754874A CN109754874A (en) | 2019-05-14 |
| CN109754874B true CN109754874B (en) | 2021-10-22 |
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| CN201811610870.5A Active CN109754874B (en) | 2018-12-27 | 2018-12-27 | Anti-misoperation shutdown switch control device and method for robot-assisted surgical equipment |
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| US (1) | US11803392B2 (en) |
| EP (1) | EP3905524A4 (en) |
| JP (1) | JP7444887B2 (en) |
| KR (1) | KR102581231B1 (en) |
| CN (1) | CN109754874B (en) |
| CA (1) | CA3118935A1 (en) |
| WO (1) | WO2020135679A1 (en) |
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| CN109754874B (en) | 2018-12-27 | 2021-10-22 | 北京术锐技术有限公司 | Anti-misoperation shutdown switch control device and method for robot-assisted surgical equipment |
| CN114765431B (en) * | 2020-12-30 | 2024-03-15 | 南京泉峰科技有限公司 | Self-walking equipment and control method thereof |
| CN117666412A (en) * | 2021-11-05 | 2024-03-08 | 深圳市精锋医疗科技股份有限公司 | Power supply device, method for controlling equipment to be started and shut down, working equipment and working system |
| CN114280916A (en) * | 2021-12-27 | 2022-04-05 | 楚天科技股份有限公司 | Control method and system for soft shutdown of pharmaceutical equipment |
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Also Published As
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| JP2022513836A (en) | 2022-02-09 |
| KR102581231B1 (en) | 2023-09-21 |
| CA3118935A1 (en) | 2020-07-02 |
| US20220083344A1 (en) | 2022-03-17 |
| CN109754874A (en) | 2019-05-14 |
| EP3905524A1 (en) | 2021-11-03 |
| KR20210107817A (en) | 2021-09-01 |
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| EP3905524A4 (en) | 2022-01-26 |
| US11803392B2 (en) | 2023-10-31 |
| WO2020135679A1 (en) | 2020-07-02 |
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Address after: Room d101a-63, B-2 / F, Dongsheng Science Park, 66 xixiaokou Road, Haidian District, Beijing, 100192 Patentee after: Beijing Shurui Robot Co.,Ltd. Address before: Room d101a-63, B-2 / F, Dongsheng Science Park, 66 xixiaokou Road, Haidian District, Beijing, 100192 Patentee before: BEIJING SURGERII TECHNOLOGY Co.,Ltd. |